Classical Planning

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Concept of AI Planning Methodology of Planners Classical Planning - example [Nau09] Reality Cargo Transportation by Planes 10 airports 50 aircrafts 200 pieces of cargo number of states 10 50 × (50 + 10) 200 ≈ 10 405 minimum number of actions 50 × 9 = 450 all cargo located on airpots with no planes maximum number of actions 50 200 × 9 ≈ 10 340 all cargo and aircrafts in one airport The number of particles in the universe is about 10 87 Automated planning research classical planning mostly dozens (hundreds) of different aglorithms Radek Maˇrík (marikr@felk.cvut.cz) Classical Planning 15. dubna 2013 19 / 71
Representation STRIPS Classical Representatons [Wic11] Planning as Theorem Proving world state is a set of propositions actions contains applicability conditions as a set of formulas and effects in a form of formulas added or removed if a given action is applied, STRIPS representation similar to the propositional representation literals of the first order are used instead of propositions a representation using state variables state is k-tuple of state variables {x1, . . . , xk} action is a partial function over states Radek Maˇrík (marikr@felk.cvut.cz) Classical Planning 15. dubna 2013 21 / 71
Page 1 and 2: Classical Planning Radek Maˇrík C
Page 3 and 4: Concept of Plan [Nau09] Concept of
Page 5 and 6: Concept of AI Planning Definition P
Page 7 and 8: Concept of AI Planning Conceptual M
Page 9 and 10: Concept of AI Planning Conceptual M
Page 11 and 12: Planning Task [Nau09] Concept of AI
Page 13 and 14: Types of Planners [Nau09] Domain-sp
Page 15: Classical Planning [Nau09] Concept
Page 19 and 20: Representation STRIPS STRIPS - stat
Page 21 and 22: Representation STRIPS STRIPS - Oper
Page 23 and 24: Representation STRIPS Applicability
Page 25 and 26: Representation STRIPS STRIPS: Plann
Page 27 and 28: Overview of PDDL [Wic11] Representa
Page 29 and 30: Representation PDDL Monkey Planning
Page 31 and 32: Planning Methods Logics and Searchi
Page 33 and 34: Planning Methods Logics and Searchi
Page 35 and 36: Planning Methods State Space State-
Page 37 and 38: Planning Methods State Space Planni
Page 45 and 46: Backward Search [Wic11] 1 Backward-
Page 47 and 48: Planning Methods State Space Sussma
Page 49 and 50: Planning Methods State Space Sussma
Page 51 and 52: Summary Conclusions Summary What is
Page 53 and 54: PDDL Domains [Wic11] Pˇríloha PDD
Page 55 and 56: Pˇríloha PDDL Specification PDDL
Page 57 and 58: PDDL Action [Wic11] Pˇríloha PDDL
Page 59 and 60: PDDL Effects [Wic11] Pˇríloha PDD
Page 61 and 62: PDDL Problem [Wic11] Pˇríloha PDD
Page 63: References I Dana Nau. CMSC 722, ai

Classical Planning

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